CN102114631B - Simulated hand - Google Patents
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- CN102114631B CN102114631B CN 201010042657 CN201010042657A CN102114631B CN 102114631 B CN102114631 B CN 102114631B CN 201010042657 CN201010042657 CN 201010042657 CN 201010042657 A CN201010042657 A CN 201010042657A CN 102114631 B CN102114631 B CN 102114631B
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Abstract
The invention relates to a simulated hand, which comprises fingers (1), a palm (2), a wrist (3) and an arm (4), wherein the fingers (1) are arranged on the palm (2) and comprise a thumb (12) and at least one other finger; the thumb (12) has two degrees of freedom; the other finger (1) has three degrees of freedom; the wrist (3) is connected to the palm (2) and the arm (4) and has a rotating degree of freedom; the simulated hand further comprises two driving sources, namely a driving motor (6) and a stepping motor (5); the stepping motor (5) is connected to the fingers (1) so as to drive the fingers (1) to realize the gripping action; and the driving motor (6) is connected to the wrist (3) so as to drive the wrist (3) to rotate. By using the simulated hand provided by the invention, the simulation for hand action can be realized by using few executing drivers, the structure of the simulated hand is simple and the simulated hand is reliable and durable.
Description
Technical field
The present invention relates to amusement equipment and robot field, more particularly, relate to a kind of Simulated hand, can imitate the crawl of staff opening and closing attitude and realization article, also can be extended to the relevant action of other artificial animal hand.
Background technology
Industry mechanical arm is custom-designed in order to satisfy certain industrial requirement often, does not possess the emulation of staff, and its finger quantity also changes because of different demands, is generally two or three so-called " finger ".At present general Simulated hand perhaps is called Dextrous Hand, uses the Execution driven device too many, and complex structure, price are high, safeguard and the maintenance difficulty, are not suitable for the general occasions such as amusement.
Summary of the invention
The technical problem to be solved in the present invention is, for the existing deficiency of above-mentioned existing Simulated hand, provides a kind of Simulated hand, and employing Execution driven device seldom just can be realized the emulation of hand motion, and is simple in structure, reliability and durability.
The technical solution adopted for the present invention to solve the technical problems is: a kind of Simulated hand is provided, comprise: finger, palm, wrist and arm, described finger mounted is on palm, comprise thumb and at least one all the other finger, described thumb has two frees degree, described all the other fingers have three degree of freedom, and described wrist connects palm and arm, has a rotary freedom.
In Simulated hand of the present invention, described Simulated hand comprises two drive sources, described two drive sources are respectively drive motors and stepper motor, and described stepper motor is connected with finger and is used for driving finger realization grasping movement, and described drive motors is connected with wrist and is used for driving the wrist rotation.
In Simulated hand of the present invention, described thumb comprises: phalanges and thumb finger tip in the large phalanges of thumb support, thumb that connects successively by rotating shaft, the thumb; One end of described thumb support is connected on the palm, and the other end is provided with the thumb finger tip; Described thumb support, the large phalanges of thumb are provided with roller, and are provided with steel wire rope and are arranged in the roller; Be connected with connecting rod between phalanges and the thumb finger tip in the described thumb, the end that described connecting rod connects phalanges in the thumb is provided with torsion spring, and the other end that connects the thumb finger tip is provided with the flange bearing; Haulage cable, by the action of connecting rod and torsion spring, phalanges and thumb finger tip bend and stretch in the thumb.
In Simulated hand of the present invention, described all the other fingers are 1～4 in forefinger, middle finger, the third finger and the little finger of toe, and its structure is identical and size is different.
In Simulated hand of the present invention, described all the other fingers comprise: the finger tip that connects successively by rotating shaft, metacarpal-phalangeal, large phalanges, middle phalanges, finger tip; Described finger tip is connected on the palm; Described metacarpal-phalangeal is provided with roller and is provided with steel wire rope and is arranged in the roller, and a Metacarpophalangeal end is provided with extension spring, and the other end is provided with torsion spring, and described steel wire rope is connected with extension spring, torsion spring; Be connected with long connecting rod between described large phalanges and the middle phalanges, described long connecting rod is connected in a side of described torsion spring, and long connecting rod is provided with the flange bearing with respect to the opposite side of torsion spring; Be connected with short connecting rod between described middle phalanges and the finger tip, and zanjon flange ball bearing is installed; Haulage cable, by the action of long connecting rod, short connecting rod, extension spring and torsion spring, described finger tip, large phalanges and middle phalanges bend and stretch.
In Simulated hand of the present invention, described palm is fixed structure, and its dimensional orientation is partly held spherical attitude during for imitation staff crawl article; Palm is provided with five installing holes, and described thumb, forefinger, middle finger, the third finger and little finger of toe are installed on respectively in the described installing hole accordingly, and the palm of the distributed mode personification of finger on palm distributes.
In Simulated hand of the present invention, the middle part of described palm is equipped with rolling wheel support, its underpart is equipped with wire rope bracket, five rollers are installed on the described rolling wheel support, described five rollers are connected with the steel wire rope of thumb, forefinger, middle finger, the third finger and little finger of toe respectively, also draw a steel wire rope on the described rolling wheel support and be connected with wire rope bracket and press solidly by a briquetting, the steel wire rope of five fingers intersects at a plane drive point through each roller and is driven by stepper motor in palm.
In Simulated hand of the present invention, described palm and be installed on finger mounted on the palm in an end of arm, stepper motor is installed on the other end of arm, described stepper motor is provided with optoelectronic switch, and be connected with plane drive point in the palm by steel wire rope, described steel wire rope is fixed by the steel wire rope fixture block, and the connecting rod that stepper motor affects rope belt to start to refer to orders about finger and makes grasping movement; And the traction of the steel wire rope of described thumb and all the other fingers can realize that described stepper motor is linear stepping motor by 1～5 stepper motor is installed.
In Simulated hand of the present invention, described palm is connected in an end of arm by wrist, arm is provided with the first synchronizing wheel, its other end with respect to palm is provided with the second synchronizing wheel, be arranged with Timing Belt on described the first synchronizing wheel and the second synchronizing wheel, and arm arranges drive motors with respect to the other end of palm, and described drive motors is provided with optoelectronic switch, drive motors drives palm by the first synchronizing wheel and the second synchronizing wheel and rotates with respect to arm, realizes the up and down rotation of wrist.
In Simulated hand of the present invention, the rotational angle of described wrist be about-45 °～+ 45 °.
The beneficial effect of Simulated hand of the present invention: one, the thumb of Simulated hand has two frees degree, realizes bending and stretching of finger by connecting rod, torsion spring and steel wire rope; All the other fingers except thumb have three degree of freedom, realize bending and stretching of finger by long connecting rod, short connecting rod, torsion spring, extension spring and steel wire rope; Palm is fixed structure, its dimensional orientation is partly held spherical attitude during for imitation staff crawl article, the steel wire rope of five fingers intersects at a plane drive point through each roller in palm, and affect steel wire rope to drive the grasping movement that connecting rod orders about finger by stepper motor, simplify the structure, increased the flexibility of finger movement; Two, the wrist of Simulated hand has one degree of freedom, drives synchronous pulley ,-45 °～+ 45 ° even the more activity of wide-angle about can realizing by drive motors.In a word, Simulated hand employing of the present invention Execution driven device seldom just can be realized the emulation of hand motion, and is simple in structure, reliability and durability.
Description of drawings
Fig. 1 is the structural representation of Simulated hand of the present invention;
Fig. 2 A is the side view of the thumb shown in Fig. 1;
Fig. 2 B is the front view of the thumb shown in Fig. 1;
Fig. 3 is the structural representation of all the other four fingers except thumb of the Simulated hand shown in Fig. 1;
Fig. 4 A is the cabling schematic diagram of each finger on palm of the Simulated hand shown in Fig. 1;
Fig. 4 B is the side view of Fig. 4 A;
Fig. 4 C is the top view of Fig. 4 A;
Fig. 5 A is the front view of the palm of the Simulated hand described in Fig. 1;
Fig. 5 B is the side view of Fig. 5 A;
Fig. 5 C is the top view of Fig. 5 A;
Fig. 6 is the side surface rotary schematic diagram of the wrist of Simulated hand shown in Figure 1.
The specific embodiment
The structural representation of Simulated hand of the present invention as shown in Figure 1; Simulated hand of the present invention comprises: five fingers 1, palm 2, wrist 3 and arms 4, the drive source of Simulated hand has two, be respectively drive motors 6 and linear stepping motor 5, linear stepping motor 5 is used for driving finger 1 and realizes that grasping movement, drive motors 6 are used for driving wrist 3 and rotate.Wherein, five finger forefingers 14 of 1, middle finger 15, nameless 16 the same with the structure of little finger of toe 17, thumb 12 has and above-mentioned four absolute construction that finger is different.Simulated hand of the present invention has the high emulation consistent with staff, such as: the length ratio of each finger-joint, rotational angle, each finger distribution on palm etc., and, the state when the structure simulates staff of the distribution of finger and palm 2 grasps article.Below describe in detail with regard to the structure of five fingers 1, palm 2, wrist 3 and arms 4.
Consult Fig. 2 A and Fig. 2 B, the thumb 12 of Simulated hand of the present invention comprises: phalanges 123 and thumb finger tip 124 in the large phalanges 122 of thumb support 120, thumb that connects successively by rotating shaft, the thumb; One end of described thumb support 120 is connected on the palm 2, and the other end is provided with thumb finger tip 121; Described thumb support 120, the large phalanges 122 of thumb are provided with roller 125, and be provided with steel wire rope 126 and be arranged in the roller 125, be connected with connecting rod 127 between phalanges 123 and the thumb finger tip 124 in the described thumb, the end that described connecting rod 127 connects phalanges 123 in the thumb is provided with torsion spring 128, and the other end that connects thumb finger tip 124 is provided with flange bearing 129; Described thumb 12 has two frees degree, and when haulage cable 126, by the action of connecting rod 127 and torsion spring 128, phalanges 123 and thumb finger tip 124 can bend and stretch thereupon in the thumb, and realizes that as required finger bends and stretches angle.
Consult Fig. 3, the structural similarity of all the other of Simulated hand of the present invention four fingers, its main distinction is the difference on the length, take middle finger 15 as example, described middle finger 15 comprises in the present embodiment: the large phalanges 152 of middle finger finger tip 150, middle finger metacarpal-phalangeal 151, middle finger, middle phalanx of middle finger 153, the middle fingertip 154 that connect successively by rotating shaft; Described middle finger finger tip 150 is connected on the palm 2, described middle finger metacarpal-phalangeal 151 is provided with roller 155 and is provided with steel wire rope 156 and is arranged in the roller 155, simultaneously, one end of middle finger metacarpal-phalangeal 151 is provided with extension spring 161, the other end is provided with torsion spring 162, and described steel wire rope 156 is connected with extension spring 161, torsion spring 162.In addition, be connected with long connecting rod 157 between the large phalanges 152 of described middle finger and the middle phalanx of middle finger 153, described long connecting rod 157 is connected in a side of described torsion spring 162, long connecting rod 157 is provided with flange bearing 159 with respect to the opposite side of torsion spring 162, be connected with short connecting rod 158 between described middle phalanx of middle finger 153 and the middle fingertip 154, and, zanjon flange ball bearing 160 also is installed between described middle phalanx of middle finger 153 and the middle fingertip 154.Described middle finger 15 has three degree of freedom, when haulage cable 156, action by long connecting rod 157, short connecting rod 158, extension spring 161 and torsion spring 162, described middle fingertip 154, the large phalanges 152 of middle finger and middle phalanx of middle finger 153 can bend and stretch thereupon, and realize as required the angle of bending and stretching of finger; Described forefinger 14, middle finger 15, nameless 16 and the structure of little finger of toe 17 similar to described middle finger 15, certainly, described finger 1 also can arrange as required, in forefinger 14, middle finger 15, the third finger 16 and the little finger of toe 17 1～4 can selectively be installed, finger 1 combining by torsion spring 162, extension spring 161, increase finger and be in the antigravity square performance of horizontal initial position, and rationally utilized the finger interior space.
Consult Fig. 5 A-C, be illustrated as the schematic diagram of the palm of Simulated hand; Described palm 2 is provided with five installing holes 21, is used for respectively corresponding described thumb 12, forefinger 14, middle finger 15, the third finger 16 and the little finger of toe 17 installed, the palm of each the distributed mode personification of finger on palm 2.
Consult Fig. 4 A-C and Fig. 5 A-C, be illustrated as the cabling schematic diagram of each finger on palm of Simulated hand; The palm 2 of Simulated hand of the present invention and finger 1 consist of to be had and the similar stereoeffect of staff, and described palm 2 be fixed structure, partly holds spherical attitude when its dimensional orientation grasps article for the imitation staff; The middle part of described palm 2 is equipped with rolling wheel support 22, its underpart is equipped with wire rope bracket 21, five rollers 23 are installed on the described rolling wheel support 22, described five rollers 23 are connected with the steel wire rope of little finger of toe 17 with thumb 12, forefinger 14, middle finger 15, nameless 16 respectively, also draw a steel wire rope 24 on the described rolling wheel support 22 and be connected with wire rope bracket 21 and press solidly by a briquetting 25, the steel wire rope of five fingers intersects at a plane drive point through each roller 23 and is driven by linear stepping motor 5 in palm 2; Consult Fig. 1, in particular, described palm 2 and be installed on the end that finger 1 on the palm 2 is installed on arm 4, linear stepping motor 5 is installed on the other end of arm 4, described linear stepping motor 5 is provided with optoelectronic switch 51, and be connected by the plane drive point in steel wire rope 52 and the palm 2, described steel wire rope 52 is fixed by steel wire rope fixture block 53, bending and stretching by linear stepping motor 5 pulling steel wire ropes of five fingers realizes, the grasping movement that the connecting rod that linear stepping motor 5 affects steel wire rope to drive five fingers orders about finger, simplify the structure, increased the flexibility of finger movement, the traction of the steel wire rope of described finger can realize that by 1～5 linear stepping motor 5 is installed specifically the installation according to finger arranges.
Consult Fig. 1 and Fig. 6, Figure 6 shows that the side surface rotary schematic diagram of the wrist of Simulated hand.Described palm 2 is connected in an end of arm 4 by wrist 3, arm 4 is provided with the first synchronizing wheel 41, its other end with respect to palm 2 is provided with the second synchronizing wheel 42, be arranged with Timing Belt 43 on described the first synchronizing wheel 41 and the second synchronizing wheel 42, and, arm 4 also is provided with drive motors 6 with respect to the other end of palm 2, described drive motors 6 is provided with optoelectronic switch 61, open optoelectronic switch 61, drive motors 6 drives palm 2 with respect to arm 4 rotations by the first synchronizing wheel 41 and the second synchronizing wheel 42, realize the up and down of wrist 3, described wrist 3 has one degree of freedom,-45 °～+ 45 ° even the more rotation of wide-angle about can realizing, reduce cost, increased the flexibility of wrist 3.
As from the foregoing, Simulated hand of the present invention has following advantage: one, the thumb of Simulated hand has two frees degree, realizes bending and stretching of finger by connecting rod, torsion spring and steel wire rope; All the other fingers except thumb have three degree of freedom, realize bending and stretching of finger by long connecting rod, short connecting rod, torsion spring, extension spring and steel wire rope; Palm is fixed structure, its dimensional orientation is partly held spherical attitude during for imitation staff crawl article, the steel wire rope of five fingers intersects at a plane drive point through each roller in palm, and affect steel wire rope to drive the grasping movement that connecting rod orders about finger by stepper motor, simplify the structure, increased the flexibility of finger movement; Two, the wrist of Simulated hand has one degree of freedom, drives synchronous pulley ,-45 °～+ 45 ° even the more activity of wide-angle about can realizing by drive motors.In a word, Simulated hand employing of the present invention Execution driven device seldom just can be realized the emulation of hand motion, and is simple in structure, reliability and durability.
The above; only for the better specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (3)
1. Simulated hand, it is characterized in that, comprise: finger (1), palm (2), wrist (3) and arm (4), described finger (1) is installed on the palm (2), comprise thumb (12) and at least one all the other finger, described thumb (12) has two frees degree, and described all the other fingers have three degree of freedom, described wrist (3) connects palm (2) and arm (4), has a rotary freedom;
Described thumb (12) comprising: phalanges (123) and thumb finger tip (124) in the thumb support (120) that connects successively by rotating shaft, the large phalanges of thumb (122), the thumb; One end of described thumb support (120) is connected on the palm (2), and the other end is provided with thumb finger tip (121); Described thumb support (120), the large phalanges of thumb (122) are provided with roller (125), and are provided with steel wire rope (126) and are arranged in the roller (125); Be connected with connecting rod (127) between phalanges in the described thumb (123) and the thumb finger tip (124), the end that described connecting rod (127) connects phalanges (123) in the thumb is provided with torsion spring (128), and the other end that connects thumb finger tip (124) is provided with flange bearing (129); Haulage cable (126), by the action of connecting rod (127) and torsion spring (128), phalanges in the thumb (123) and thumb finger tip (124) bend and stretch;
Described all the other fingers comprise: the finger tip (150) that connects successively by rotating shaft, metacarpal-phalangeal (151), large phalanges (152), middle phalanges (153), finger tip (154); Described finger tip (150) is connected on the palm (2); Described metacarpal-phalangeal (151) is provided with roller (155) and is provided with steel wire rope (156) and is arranged in the roller (155), one end of metacarpal-phalangeal (151) is provided with extension spring (161), the other end is provided with torsion spring (162), and described steel wire rope (156) is connected with extension spring (161), torsion spring (162); Be connected with long connecting rod (157) between described large phalanges (152) and the middle phalanges (153), described long connecting rod (157) is connected in a side of described torsion spring (162), and long connecting rod (157) is provided with flange bearing (159) with respect to the opposite side of torsion spring (162); Be connected with short connecting rod (158) between described middle phalanges (153) and the finger tip (154), and zanjon flange ball bearing (160) is installed; Haulage cable (156), by the action of long connecting rod (157), short connecting rod (158), extension spring (161) and torsion spring (162), described finger tip (154), large phalanges (152) and middle phalanges (153) bend and stretch;
Described Simulated hand comprises two drive sources, described two drive sources are respectively drive motors (6) and stepper motor (5), described stepper motor (5) is connected with finger (1) and is used for driving finger (1) realization grasping movement, and described drive motors (6) is connected with wrist (3) and is used for driving wrist (3) rotation;
Described all the other fingers are 1～4 in forefinger (14), middle finger (15), nameless (16) and the little finger of toe (17), and its structure is identical and size is different;
Described palm (2) is fixed structure, and its dimensional orientation is partly held spherical attitude during for imitation staff crawl article; Palm (2) is provided with five installing holes (21), described thumb (12), forefinger (14), middle finger (15), nameless (16) and little finger of toe (17) are installed on respectively in the described installing hole (21) accordingly, and the palm of the distributed mode personification of finger on palm (2) distributes;
The middle part of described palm (2) is equipped with rolling wheel support (22), its underpart is equipped with wire rope bracket (21), five rollers (23) are installed on the described rolling wheel support (22), described five rollers (23) respectively with thumb (12), forefinger (14), middle finger (15), the steel wire rope of nameless (16) and little finger of toe (17) is connected, also draw a steel wire rope (24) on the described rolling wheel support (22) and be connected with wire rope bracket (21) and press solidly by a briquetting (25), the steel wire rope of five fingers intersects at a plane drive point through each roller (23) and is driven by stepper motor (5) in palm (2);
Described palm (2) and be installed on the end that finger (1) on the palm (2) is installed on arm (4), stepper motor (5) is installed on the other end of arm (4), described stepper motor (5) is provided with optoelectronic switch (51), and be connected by the plane drive point in steel wire rope (52) and the palm (2), described steel wire rope (52) is fixed by steel wire rope fixture block (53), and the connecting rod that stepper motor (5) affects rope belt to start to refer to orders about finger and makes grasping movement; And the traction of the steel wire rope of described thumb and all the other fingers can realize that described stepper motor (5) is linear stepping motor by 1～5 stepper motor (5) is installed.
2. Simulated hand according to claim 1, it is characterized in that, described palm (2) is connected in an end of arm (4) by wrist (3), arm (4) is provided with the first synchronizing wheel (41), its other end with respect to palm (2) is provided with the second synchronizing wheel (42), be arranged with Timing Belt (43) on described the first synchronizing wheel (41) and the second synchronizing wheel (42), and, arm (4) arranges drive motors (6) with respect to the other end of palm (2), described drive motors (6) is provided with optoelectronic switch (61), drive motors (6) drives palm (2) with respect to arm (4) rotation by the first synchronizing wheel (41) and the second synchronizing wheel (42), realizes the up and down rotation of wrist (3).
3. Simulated hand according to claim 2 is characterized in that, the rotational angle of described wrist (3) be about-45 °～+ 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010042657 CN102114631B (en) | 2010-01-06 | 2010-01-06 | Simulated hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010042657 CN102114631B (en) | 2010-01-06 | 2010-01-06 | Simulated hand |
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| CN102114631A CN102114631A (en) | 2011-07-06 |
| CN102114631B true CN102114631B (en) | 2013-10-30 |
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| CN 201010042657 Active CN102114631B (en) | 2010-01-06 | 2010-01-06 | Simulated hand |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106695853A (en) * | 2017-02-21 | 2017-05-24 | 深圳诺欧博智能科技有限公司 | Single driving anthropopathic manipulator |
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| CN102363302B (en) * | 2011-10-25 | 2013-09-18 | 杭州电子科技大学 | Anthropomorphic dexterous hand device driven by single motor |
| CN104922918A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Magic hand showing device |
| CN104922919A (en) * | 2015-06-13 | 2015-09-23 | 杭州佳合舞台设备有限公司 | Finger structure of magic hand showing device |
| CN105291134B (en) * | 2015-12-07 | 2017-03-08 | 佛山市广工大数控装备技术发展有限公司 | A kind of flexible bionic mechanical hand |
| CN107538510A (en) * | 2016-06-28 | 2018-01-05 | 中国科学院沈阳自动化研究所 | A kind of lightweight apery five-needle pines blister rust mechanism |
| CN106003132A (en) * | 2016-07-27 | 2016-10-12 | 昆山塔米机器人有限公司 | Flexible finger of robot |
| CN106826838B (en) * | 2017-04-01 | 2019-12-31 | 西安交通大学 | Interaction bionic mechanical arm control method based on Kinect visual depth sensor |
| CN106938465A (en) * | 2017-05-16 | 2017-07-11 | 青岛智拓智能科技有限公司 | Multiple degrees of freedom bionic hand and mechanical arm |
| CN110549355B (en) * | 2019-07-29 | 2021-06-11 | 北京航天控制仪器研究所 | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission |
| CN110271026A (en) * | 2019-07-29 | 2019-09-24 | 永嘉县信达智能设备制造有限公司 | Robot finger's kinematic system |
| CN114603589B (en) * | 2022-04-21 | 2023-08-15 | 上海交通大学医学院附属瑞金医院 | Bionic manipulator for rehabilitation |
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| Publication number | Publication date |
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| CN102114631A (en) | 2011-07-06 |
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